[JTC] Fix typos, implicit cast, const member functions (#748)

christophfroehlich · web-flow · commit 6b73cf56d20b · 2023-08-16T14:35:57.000+01:00
diff --git a/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp b/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp
@@ -249,7 +249,7 @@ class JointTrajectoryController : public controller_interface::ControllerInterfa
   bool reset();
 
   JOINT_TRAJECTORY_CONTROLLER_PUBLIC
-  bool has_active_trajectory();
+  bool has_active_trajectory() const;
 
   using JointTrajectoryPoint = trajectory_msgs::msg::JointTrajectoryPoint;
   JOINT_TRAJECTORY_CONTROLLER_PUBLIC
diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -1517,7 +1517,7 @@ void JointTrajectoryController::resize_joint_trajectory_point_command(
   }
 }
 
-bool JointTrajectoryController::has_active_trajectory()
+bool JointTrajectoryController::has_active_trajectory() const
 {
   return traj_external_point_ptr_ != nullptr && traj_external_point_ptr_->has_trajectory_msg();
 }
diff --git a/joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml b/joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml
@@ -86,7 +86,7 @@ joint_trajectory_controller:
       i: {
         type: double,
         default_value: 0.0,
-        description: "Intigral gain for PID"
+        description: "Integral gain for PID"
       }
       d: {
         type: double,
@@ -96,7 +96,7 @@ joint_trajectory_controller:
       i_clamp: {
         type: double,
         default_value: 0.0,
-        description: "Integrale clamp. Symmetrical in both positive and negative direction."
+        description: "Integral clamp. Symmetrical in both positive and negative direction."
       }
       ff_velocity_scale: {
         type: double,
diff --git a/joint_trajectory_controller/test/test_trajectory_controller.cpp b/joint_trajectory_controller/test/test_trajectory_controller.cpp
@@ -1531,9 +1531,9 @@ TEST_P(TrajectoryControllerTestParameterized, test_hw_states_has_offset_later_co
   // set command values to NaN
   for (size_t i = 0; i < 3; ++i)
   {
-    joint_pos_[i] = 3.1 + i;
-    joint_vel_[i] = 0.25 + i;
-    joint_acc_[i] = 0.02 + i / 10.0;
+    joint_pos_[i] = 3.1 + static_cast<double>(i);
+    joint_vel_[i] = 0.25 + static_cast<double>(i);
+    joint_acc_[i] = 0.02 + static_cast<double>(i) / 10.0;
   }
   SetUpAndActivateTrajectoryController(executor, true, {is_open_loop_parameters}, true);
 
diff --git a/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp b/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
@@ -102,31 +102,31 @@ class TestableJointTrajectoryController
 
   void trigger_declare_parameters() { param_listener_->declare_params(); }
 
-  trajectory_msgs::msg::JointTrajectoryPoint get_current_state_when_offset()
+  trajectory_msgs::msg::JointTrajectoryPoint get_current_state_when_offset() const
   {
     return last_commanded_state_;
   }
-  bool has_position_state_interface() { return has_position_state_interface_; }
+  bool has_position_state_interface() const { return has_position_state_interface_; }
 
-  bool has_velocity_state_interface() { return has_velocity_state_interface_; }
+  bool has_velocity_state_interface() const { return has_velocity_state_interface_; }
 
-  bool has_acceleration_state_interface() { return has_acceleration_state_interface_; }
+  bool has_acceleration_state_interface() const { return has_acceleration_state_interface_; }
 
-  bool has_position_command_interface() { return has_position_command_interface_; }
+  bool has_position_command_interface() const { return has_position_command_interface_; }
 
-  bool has_velocity_command_interface() { return has_velocity_command_interface_; }
+  bool has_velocity_command_interface() const { return has_velocity_command_interface_; }
 
-  bool has_acceleration_command_interface() { return has_acceleration_command_interface_; }
+  bool has_acceleration_command_interface() const { return has_acceleration_command_interface_; }
 
-  bool has_effort_command_interface() { return has_effort_command_interface_; }
+  bool has_effort_command_interface() const { return has_effort_command_interface_; }
 
-  bool use_closed_loop_pid_adapter() { return use_closed_loop_pid_adapter_; }
+  bool use_closed_loop_pid_adapter() const { return use_closed_loop_pid_adapter_; }
 
-  bool is_open_loop() { return params_.open_loop_control; }
+  bool is_open_loop() const { return params_.open_loop_control; }
 
-  bool has_active_traj() { return has_active_trajectory(); }
+  bool has_active_traj() const { return has_active_trajectory(); }
 
-  bool has_trivial_traj()
+  bool has_trivial_traj() const
   {
     return has_active_trajectory() && traj_external_point_ptr_->has_nontrivial_msg() == false;
   }

Original file line number	Diff line number	Diff line change
`@@ -1517,7 +1517,7 @@ void JointTrajectoryController::resize_joint_trajectory_point_command(`
`1517`	`1517`	`}`
`1518`	`1518`	`}`
`1519`	`1519`
`1520`		`-bool JointTrajectoryController::has_active_trajectory()`
	`1520`	`+bool JointTrajectoryController::has_active_trajectory() const`
`1521`	`1521`	`{`
`1522`	`1522`	`return traj_external_point_ptr_ != nullptr && traj_external_point_ptr_->has_trajectory_msg();`
`1523`	`1523`	`}`
Original file line number	Diff line number	Diff line change
`@@ -1531,9 +1531,9 @@ TEST_P(TrajectoryControllerTestParameterized, test_hw_states_has_offset_later_co`
`1531`	`1531`	`// set command values to NaN`
`1532`	`1532`	`for (size_t i = 0; i < 3; ++i)`
`1533`	`1533`	`{`
`1534`		`- joint_pos_[i] = 3.1 + i;`
`1535`		`- joint_vel_[i] = 0.25 + i;`
`1536`		`- joint_acc_[i] = 0.02 + i / 10.0;`
	`1534`	`+ joint_pos_[i] = 3.1 + static_cast<double>(i);`
	`1535`	`+ joint_vel_[i] = 0.25 + static_cast<double>(i);`
	`1536`	`+ joint_acc_[i] = 0.02 + static_cast<double>(i) / 10.0;`
`1537`	`1537`	`}`
`1538`	`1538`	`SetUpAndActivateTrajectoryController(executor, true, {is_open_loop_parameters}, true);`
`1539`	`1539`